Glider dive log

DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 ROLL_MIN 294 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 14 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_TURN_MARGIN 5

DIVE 42 ESCAPE_HEADING_DELTA 5 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2250 ALTIM_PING_DEPTH 300

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 300 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 39 XPDR_VALID 4

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 41 XPDR_INHIBIT 90

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 INT_PRESSURE_YINT 0

D_CALL 3 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 10 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_MIN 588 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 5 VBD_MAX 3951 DEVICE1 2

T_DIVE 330 CALL_TRIES 3 C_VBD 3058 DEVICE2 20

T_MISSION 440 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 540 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -3 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -179578.59 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 900 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3112 FG_AHR_24V 0 SEABIRD_T_G 0.0043387706

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063929392

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -21.817678 SEABIRD_T_I 2.2459495e-05

MASS 51740 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_J 2.0328812e-06

NAV_MODE 0 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -10.121161

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1529624

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.002153415

HD_A 0.0038000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002365096

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 2.7999999e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 300

AH0_24V 150 D_OFFGRID 900 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 1.75 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SAFE 500 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING 100 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 5 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_10V 0 PITCH_MIN 350 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 20 FG_AHR_24V 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 5 FILEMGR 2 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 5 PRESSURE_SLOPE 0.0001161151 T_DIVE 330

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -21.817678 T_GPS 3

CALL_TRIES 3 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -179578.59

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE 64 T_LOITER 0

CAPUPLOAD 0 HD_C 2.7999999e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 440

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 108 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_PITCH 3112 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -3

C_ROLL_DIVE 2250 KERMIT 0 ROLL_MAX 3598 USE_ICE 0

C_VBD 3058 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 294 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51740 R_PORT_OVSHOOT 39 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.121161 VBD_MIN 588

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1529624 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 14 SEABIRD_C_I -0.002153415 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002365096 VBD_TIMEOUT 540

DIVE 42 NAV_MODE 0 SEABIRD_T_G 0.0043387706 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 8 SEABIRD_T_H 0.00063929392 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.2459495e-05 XPDR_VALID 4

D_CALL 3 N_NOCOMM 1 SEABIRD_T_J 2.0328812e-06

D_FINISH 9 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 061707,6704.015,-5652.611,29,0.9,29,-37.6 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 062314,6704.066,-5652.628,11,1.2,11,-37.6 MHEAD_RNG_PITCHd_Wd 158.2,3881,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 512

Post-dive calculations and measurements:

FREEZE 1.54,3.073,-0.928,0,1,0 ALTIM_TOP_PING 19.6,18.0

FINISH 1.5,1.013646 ALTIM_BOTTOM_PING 500.5,16.1

SM_CCo 11355,55.22,0.836,0,0,1835,300.00 _24V_AH 23.7,8.106

SM_GC 2.48,0.00,0.00,55.22,0.000,0.000,0.836,335,2268,1835,-12.77,0.51,300.00 _10V_AH 10.4,4.144

RAFOS_CLK 423 FG_AHR_24Vo 0.000

RAFOS 0,1276502464,8.033334,8.017777,49,47,43,42,41,40,301,502,1669,646,1369,454 FG_AHR_10Vo 0.000

RAFOS_FIX 6703.939941,-5650.339355,140610,080840,3,89,0.20 MEM 135696

IRIDIUM_FIX 6636.54,-5647.69,080999,030336 DATA_FILE_SIZE 47311,1219

TT8_MAMPS 0.026845 CAP_FILE_SIZE 124606,0

HUMID 39.91 CFSIZE 260165632,245886976

INTERNAL_PRESSURE 10.2641 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 SOUNDSPEED 1467.1

XPDR_PINGS 0 GPS 140610,093524,6702.537,-5648.173,36,1.4,36,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 246 115.90 SBE_CT 891 24 507.07

Roll_motor 79 118 221.15 SBE_O2 837 19 377.33

VBD_pump_during_apogee 307 1137 8280.10 nil 0 0 0.00

VBD_pump_during_surface 55 836 1094.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.29 nil 0 0 0.00

Iridium_during_connect 31 160 119.67 nil 0 0 0.00

Iridium_during_xfer 168 223 889.61

Transponder_ping 2 420 19.91

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.99

TT8 2013 19 417.22

LPSleep 6895 2 165.65

TT8_Active 442 19 91.68

TT8_Sampling 1915 39 795.25

TT8_CF8 515 45 246.06

TT8_Kalman 0 0 0.00

Analog_circuits 1427 12 178.14

GPS_charging 0 0 0.00

Compass 1886 8 156.97

RAFOS 2520 3 78.62

Transponder 21 30 6.63

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.78 -146.1 0.0 0.0 0 78 0.00 0.00 -59.58 0.000 2 0.000 0.000 334 2269 3162 0 0 0 0 0 0

81 -0.78 -146.1 3.2 -1.1 12 112 10.35 0.00 -14.88 0.000 6 0.247 0.000 2935 2269 3656 0 0 0 0 0 0

453 -0.78 -146.1 44.9 -10.3 78 458 0.00 2.12 0.00 0.000 4 0.000 0.070 2928 3592 3662 0 0 0 0 0 0

476 -0.78 -146.1 47.9 -11.4 82 482 0.00 2.10 0.00 0.000 6 0.000 0.048 2928 2241 3662 0 0 0 0 0 0

820 -0.78 -146.1 83.9 -10.3 143 825 0.00 2.15 0.00 0.000 4 0.000 0.069 2918 3586 3662 0 0 0 0 0 0

838 -0.78 -146.1 85.8 -10.0 146 844 0.10 2.08 0.00 0.000 6 0.166 0.048 2945 2244 3662 0 0 0 0 0 0

1177 -0.78 -146.1 119.1 -9.7 190 1181 0.00 2.17 0.00 0.000 4 0.000 0.058 2945 847 3662 0 0 0 0 0 0

1189 -0.78 -146.1 120.3 -9.2 191 1194 0.00 2.22 0.00 0.000 6 0.000 0.060 2937 2236 3662 0 0 0 0 0 0

1515 -0.78 -146.1 147.8 -6.8 221 1516 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2236 3662 0 0 0 0 0 0

1835 -0.78 -146.1 168.4 -6.7 251 1836 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2236 3662 0 0 0 0 0 0

2154 -0.78 -146.1 190.8 -6.9 281 2158 0.00 2.12 0.00 0.000 4 0.000 0.071 2927 3600 3662 0 0 0 0 0 0

2170 -0.78 -146.1 192.3 -7.4 282 2176 0.00 2.10 0.00 0.000 6 0.000 0.049 2927 2238 3662 0 0 0 0 0 0

2496 -0.78 -146.1 216.4 -7.3 313 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2238 3661 0 0 0 0 0 0

2816 -0.78 -146.1 237.3 -6.3 343 2817 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2238 3661 0 0 0 0 0 0

3135 -0.78 -146.1 258.6 -6.8 373 3138 0.00 2.15 0.00 0.000 4 0.000 0.058 2927 844 3661 0 0 0 0 0 0

3147 -0.78 -146.1 259.6 -7.0 374 3151 0.10 2.25 0.00 0.000 6 0.160 0.061 2945 2260 3661 0 0 0 0 0 0

3477 -0.78 -146.1 282.3 -7.1 405 3478 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2260 3661 0 0 0 0 0 0

3797 -0.78 -146.1 305.9 -8.1 435 3801 0.00 2.08 0.00 0.000 4 0.000 0.071 2937 3598 3661 0 0 0 0 0 0

3811 -0.78 -146.1 307.0 -8.1 436 3815 0.00 2.08 0.00 0.000 6 0.000 0.048 2937 2244 3661 0 0 0 0 0 0

4142 -0.78 -146.1 333.2 -7.3 467 4143 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2242 3661 0 0 0 0 0 0

4463 -0.78 -146.1 354.0 -6.2 497 4464 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2242 3661 0 0 0 0 0 0

4782 -0.78 -146.1 376.7 -7.0 527 4787 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2242 3662 0 0 0 0 0 0

5112 -0.78 -146.1 400.8 -7.5 558 5117 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2241 3661 0 0 0 0 0 0

5439 -0.78 -146.1 426.3 -7.7 589 5443 0.00 2.12 0.00 0.000 4 0.000 0.057 2937 839 3661 0 0 0 0 0 0

5451 -0.78 -146.1 427.4 -7.7 590 5455 0.00 2.22 0.00 0.000 6 0.000 0.058 2928 2253 3662 0 0 0 0 0 0

5777 -0.78 -146.1 453.3 -8.1 620 5778 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2252 3661 0 0 0 0 0 0

6098 -0.78 -146.1 477.5 -7.6 650 6099 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2252 3662 0 0 0 0 0 0

6411 end dive: BOTTOM_OBSTACLE_DETECTED

state 6411 begin apogee

6418 -0.17 0.0 502.1 7.4 680 6544 0.43 0.00 118.85 1.137 6 0.120 0.000 3073 2199 3058 0 0 0 0 0 0

6544 end apogee: CONTROL_FINISHED_OK

state 6545 begin climb

6547 0.78 146.1 504.9 0.0 693 6678 0.62 2.40 119.97 1.083 4 0.076 0.064 3288 3592 2461 0 0 0 0 0 0

6724 0.78 146.1 491.1 12.1 710 6728 0.00 2.28 0.00 0.000 6 0.000 0.045 3298 2195 2459 0 0 0 0 0 0

7054 0.78 146.1 454.8 11.3 741 7058 0.00 2.22 0.00 0.000 4 0.000 0.055 3308 794 2458 0 0 0 0 0 0

7190 0.78 146.1 440.6 10.5 752 7196 0.12 2.30 0.00 0.000 6 0.164 0.055 3276 2215 2458 0 0 0 0 0 0

7515 0.80 158.3 410.0 9.4 783 7530 0.00 2.20 10.50 0.948 4 0.000 0.064 3276 3596 2413 0 0 0 0 0 0

7614 0.80 158.3 399.3 11.1 791 7620 0.00 2.20 0.00 0.000 6 0.000 0.045 3284 2186 2411 0 0 0 0 0 0

7939 0.80 158.3 365.7 11.1 822 7943 0.00 2.17 0.00 0.000 4 0.000 0.054 3294 789 2411 0 0 0 0 0 0

7989 0.80 158.3 360.1 12.0 826 7994 0.00 2.25 0.00 0.000 6 0.000 0.054 3294 2198 2412 0 0 0 0 0 0

8314 0.80 158.3 320.4 11.8 856 8318 0.00 2.20 0.00 0.000 4 0.000 0.067 3294 3594 2412 0 0 0 0 0 0

8403 0.80 158.3 308.1 13.7 863 8408 0.00 2.15 0.00 0.000 6 0.000 0.046 3304 2199 2412 0 0 0 0 0 0

8731 0.80 158.3 271.1 11.0 894 8734 0.00 2.17 0.00 0.000 4 0.000 0.055 3314 791 2412 0 0 0 0 0 0

8815 0.80 158.3 261.4 12.0 901 8820 0.12 2.22 0.00 0.000 6 0.164 0.057 3281 2204 2412 0 0 0 0 0 0

9145 0.85 198.8 232.8 8.1 932 9187 0.00 2.28 32.85 0.969 4 0.000 0.067 3280 3591 2246 0 0 0 0 0 0

9262 0.85 198.8 221.3 11.2 942 9267 0.00 2.17 0.00 0.000 6 0.000 0.046 3288 2197 2243 0 0 0 0 0 0

9586 0.85 198.8 188.6 10.3 973 9590 0.00 2.17 0.00 0.000 4 0.000 0.056 3296 792 2243 0 0 0 0 0 0

9648 0.85 198.8 182.0 11.4 978 9652 0.00 2.25 0.00 0.000 6 0.000 0.057 3296 2204 2243 0 0 0 0 0 0

9979 0.85 198.8 144.1 11.6 1009 9983 0.00 2.17 0.00 0.000 4 0.000 0.067 3296 3596 2243 0 0 0 0 0 0

10079 0.85 198.8 130.7 14.0 1017 10084 0.00 2.15 0.00 0.000 6 0.000 0.047 3306 2203 2242 0 0 0 0 0 0

10407 0.85 198.8 92.3 10.0 1054 10413 0.00 2.17 0.00 0.000 4 0.000 0.057 3316 796 2242 0 0 0 0 0 0

10515 0.85 200.0 80.9 9.9 1073 10521 0.00 2.25 0.00 0.000 6 0.000 0.058 3316 2210 2242 0 0 0 0 0 0

10859 0.89 230.3 48.3 8.6 1134 10891 0.00 2.22 24.98 0.868 4 0.000 0.068 3316 3595 2119 0 0 0 0 0 0

10987 0.89 230.3 34.5 12.1 1157 10992 0.00 2.20 0.00 0.000 6 0.000 0.048 3326 2186 2115 0 0 0 0 0 0

11301 end climb: SURFACE_DEPTH_REACHED

state 11301 begin surface coast

11336 end surface coast: CONTROL_FINISHED_OK

state 11336 begin surface

ID	108	HEADING	-1	ROLL_MIN	294	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	14	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_TURN_MARGIN	5
DIVE	42	ESCAPE_HEADING_DELTA	5	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2250	ALTIM_PING_DEPTH	300
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	300	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	39	XPDR_VALID	4
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	41	XPDR_INHIBIT	90
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	INT_PRESSURE_YINT	0
D_CALL	3	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	10	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_MIN	588	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	5	VBD_MAX	3951	DEVICE1	2
T_DIVE	330	CALL_TRIES	3	C_VBD	3058	DEVICE2	20
T_MISSION	440	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	540	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-179578.59	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	900	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3112	FG_AHR_24V	0	SEABIRD_T_G	0.0043387706
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063929392
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-21.817678	SEABIRD_T_I	2.2459495e-05
MASS	51740	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_J	2.0328812e-06
NAV_MODE	0	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-10.121161
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1529624
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.002153415
HD_A	0.0038000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002365096
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	2.7999999e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	20

GPS1	061707,6704.015,-5652.611,29,0.9,29,-37.6	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	062314,6704.066,-5652.628,11,1.2,11,-37.6	MHEAD_RNG_PITCHd_Wd	158.2,3881,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	512

FREEZE	1.54,3.073,-0.928,0,1,0	ALTIM_TOP_PING	19.6,18.0
FINISH	1.5,1.013646	ALTIM_BOTTOM_PING	500.5,16.1
SM_CCo	11355,55.22,0.836,0,0,1835,300.00	_24V_AH	23.7,8.106
SM_GC	2.48,0.00,0.00,55.22,0.000,0.000,0.836,335,2268,1835,-12.77,0.51,300.00	_10V_AH	10.4,4.144
RAFOS_CLK	423	FG_AHR_24Vo	0.000
RAFOS	0,1276502464,8.033334,8.017777,49,47,43,42,41,40,301,502,1669,646,1369,454	FG_AHR_10Vo	0.000
RAFOS_FIX	6703.939941,-5650.339355,140610,080840,3,89,0.20	MEM	135696
IRIDIUM_FIX	6636.54,-5647.69,080999,030336	DATA_FILE_SIZE	47311,1219
TT8_MAMPS	0.026845	CAP_FILE_SIZE	124606,0
HUMID	39.91	CFSIZE	260165632,245886976
INTERNAL_PRESSURE	10.2641	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	SOUNDSPEED	1467.1
XPDR_PINGS	0	GPS	140610,093524,6702.537,-5648.173,36,1.4,36,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	246	115.90	SBE_CT	891	24	507.07
Roll_motor	79	118	221.15	SBE_O2	837	19	377.33
VBD_pump_during_apogee	307	1137	8280.10	nil	0	0	0.00
VBD_pump_during_surface	55	836	1094.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.29	nil	0	0	0.00
Iridium_during_connect	31	160	119.67	nil	0	0	0.00
Iridium_during_xfer	168	223	889.61
Transponder_ping	2	420	19.91
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.99
TT8	2013	19	417.22
LPSleep	6895	2	165.65
TT8_Active	442	19	91.68
TT8_Sampling	1915	39	795.25
TT8_CF8	515	45	246.06
TT8_Kalman	0	0	0.00
Analog_circuits	1427	12	178.14
GPS_charging	0	0	0.00
Compass	1886	8	156.97
RAFOS	2520	3	78.62
Transponder	21	30	6.63

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.78	-146.1	0.0	0.0	0	78	0.00	0.00	-59.58	0.000	2	0.000	0.000	334	2269	3162	0	0	0	0	0	0
81	-0.78	-146.1	3.2	-1.1	12	112	10.35	0.00	-14.88	0.000	6	0.247	0.000	2935	2269	3656	0	0	0	0	0	0
453	-0.78	-146.1	44.9	-10.3	78	458	0.00	2.12	0.00	0.000	4	0.000	0.070	2928	3592	3662	0	0	0	0	0	0
476	-0.78	-146.1	47.9	-11.4	82	482	0.00	2.10	0.00	0.000	6	0.000	0.048	2928	2241	3662	0	0	0	0	0	0
820	-0.78	-146.1	83.9	-10.3	143	825	0.00	2.15	0.00	0.000	4	0.000	0.069	2918	3586	3662	0	0	0	0	0	0
838	-0.78	-146.1	85.8	-10.0	146	844	0.10	2.08	0.00	0.000	6	0.166	0.048	2945	2244	3662	0	0	0	0	0	0
1177	-0.78	-146.1	119.1	-9.7	190	1181	0.00	2.17	0.00	0.000	4	0.000	0.058	2945	847	3662	0	0	0	0	0	0
1189	-0.78	-146.1	120.3	-9.2	191	1194	0.00	2.22	0.00	0.000	6	0.000	0.060	2937	2236	3662	0	0	0	0	0	0
1515	-0.78	-146.1	147.8	-6.8	221	1516	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2236	3662	0	0	0	0	0	0
1835	-0.78	-146.1	168.4	-6.7	251	1836	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2236	3662	0	0	0	0	0	0
2154	-0.78	-146.1	190.8	-6.9	281	2158	0.00	2.12	0.00	0.000	4	0.000	0.071	2927	3600	3662	0	0	0	0	0	0
2170	-0.78	-146.1	192.3	-7.4	282	2176	0.00	2.10	0.00	0.000	6	0.000	0.049	2927	2238	3662	0	0	0	0	0	0
2496	-0.78	-146.1	216.4	-7.3	313	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2238	3661	0	0	0	0	0	0
2816	-0.78	-146.1	237.3	-6.3	343	2817	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2238	3661	0	0	0	0	0	0
3135	-0.78	-146.1	258.6	-6.8	373	3138	0.00	2.15	0.00	0.000	4	0.000	0.058	2927	844	3661	0	0	0	0	0	0
3147	-0.78	-146.1	259.6	-7.0	374	3151	0.10	2.25	0.00	0.000	6	0.160	0.061	2945	2260	3661	0	0	0	0	0	0
3477	-0.78	-146.1	282.3	-7.1	405	3478	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2260	3661	0	0	0	0	0	0
3797	-0.78	-146.1	305.9	-8.1	435	3801	0.00	2.08	0.00	0.000	4	0.000	0.071	2937	3598	3661	0	0	0	0	0	0
3811	-0.78	-146.1	307.0	-8.1	436	3815	0.00	2.08	0.00	0.000	6	0.000	0.048	2937	2244	3661	0	0	0	0	0	0
4142	-0.78	-146.1	333.2	-7.3	467	4143	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2242	3661	0	0	0	0	0	0
4463	-0.78	-146.1	354.0	-6.2	497	4464	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2242	3661	0	0	0	0	0	0
4782	-0.78	-146.1	376.7	-7.0	527	4787	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2242	3662	0	0	0	0	0	0
5112	-0.78	-146.1	400.8	-7.5	558	5117	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2241	3661	0	0	0	0	0	0
5439	-0.78	-146.1	426.3	-7.7	589	5443	0.00	2.12	0.00	0.000	4	0.000	0.057	2937	839	3661	0	0	0	0	0	0
5451	-0.78	-146.1	427.4	-7.7	590	5455	0.00	2.22	0.00	0.000	6	0.000	0.058	2928	2253	3662	0	0	0	0	0	0
5777	-0.78	-146.1	453.3	-8.1	620	5778	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2252	3661	0	0	0	0	0	0
6098	-0.78	-146.1	477.5	-7.6	650	6099	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	2252	3662	0	0	0	0	0	0
6411	end dive: BOTTOM_OBSTACLE_DETECTED
state	6411	begin apogee
6418	-0.17	0.0	502.1	7.4	680	6544	0.43	0.00	118.85	1.137	6	0.120	0.000	3073	2199	3058	0	0	0	0	0	0
6544	end apogee: CONTROL_FINISHED_OK
state	6545	begin climb
6547	0.78	146.1	504.9	0.0	693	6678	0.62	2.40	119.97	1.083	4	0.076	0.064	3288	3592	2461	0	0	0	0	0	0
6724	0.78	146.1	491.1	12.1	710	6728	0.00	2.28	0.00	0.000	6	0.000	0.045	3298	2195	2459	0	0	0	0	0	0
7054	0.78	146.1	454.8	11.3	741	7058	0.00	2.22	0.00	0.000	4	0.000	0.055	3308	794	2458	0	0	0	0	0	0
7190	0.78	146.1	440.6	10.5	752	7196	0.12	2.30	0.00	0.000	6	0.164	0.055	3276	2215	2458	0	0	0	0	0	0
7515	0.80	158.3	410.0	9.4	783	7530	0.00	2.20	10.50	0.948	4	0.000	0.064	3276	3596	2413	0	0	0	0	0	0
7614	0.80	158.3	399.3	11.1	791	7620	0.00	2.20	0.00	0.000	6	0.000	0.045	3284	2186	2411	0	0	0	0	0	0
7939	0.80	158.3	365.7	11.1	822	7943	0.00	2.17	0.00	0.000	4	0.000	0.054	3294	789	2411	0	0	0	0	0	0
7989	0.80	158.3	360.1	12.0	826	7994	0.00	2.25	0.00	0.000	6	0.000	0.054	3294	2198	2412	0	0	0	0	0	0
8314	0.80	158.3	320.4	11.8	856	8318	0.00	2.20	0.00	0.000	4	0.000	0.067	3294	3594	2412	0	0	0	0	0	0
8403	0.80	158.3	308.1	13.7	863	8408	0.00	2.15	0.00	0.000	6	0.000	0.046	3304	2199	2412	0	0	0	0	0	0
8731	0.80	158.3	271.1	11.0	894	8734	0.00	2.17	0.00	0.000	4	0.000	0.055	3314	791	2412	0	0	0	0	0	0
8815	0.80	158.3	261.4	12.0	901	8820	0.12	2.22	0.00	0.000	6	0.164	0.057	3281	2204	2412	0	0	0	0	0	0
9145	0.85	198.8	232.8	8.1	932	9187	0.00	2.28	32.85	0.969	4	0.000	0.067	3280	3591	2246	0	0	0	0	0	0
9262	0.85	198.8	221.3	11.2	942	9267	0.00	2.17	0.00	0.000	6	0.000	0.046	3288	2197	2243	0	0	0	0	0	0
9586	0.85	198.8	188.6	10.3	973	9590	0.00	2.17	0.00	0.000	4	0.000	0.056	3296	792	2243	0	0	0	0	0	0
9648	0.85	198.8	182.0	11.4	978	9652	0.00	2.25	0.00	0.000	6	0.000	0.057	3296	2204	2243	0	0	0	0	0	0
9979	0.85	198.8	144.1	11.6	1009	9983	0.00	2.17	0.00	0.000	4	0.000	0.067	3296	3596	2243	0	0	0	0	0	0
10079	0.85	198.8	130.7	14.0	1017	10084	0.00	2.15	0.00	0.000	6	0.000	0.047	3306	2203	2242	0	0	0	0	0	0
10407	0.85	198.8	92.3	10.0	1054	10413	0.00	2.17	0.00	0.000	4	0.000	0.057	3316	796	2242	0	0	0	0	0	0
10515	0.85	200.0	80.9	9.9	1073	10521	0.00	2.25	0.00	0.000	6	0.000	0.058	3316	2210	2242	0	0	0	0	0	0
10859	0.89	230.3	48.3	8.6	1134	10891	0.00	2.22	24.98	0.868	4	0.000	0.068	3316	3595	2119	0	0	0	0	0	0
10987	0.89	230.3	34.5	12.1	1157	10992	0.00	2.20	0.00	0.000	6	0.000	0.048	3326	2186	2115	0	0	0	0	0	0
11301	end climb: SURFACE_DEPTH_REACHED
state	11301	begin surface coast
11336	end surface coast: CONTROL_FINISHED_OK
state	11336	begin surface